Unmanned vehicle cargo handling and carrying system

ABSTRACT

An autonomous cargo container retrieval and delivery system locates a select cargo container and maneuvers an unmanned aerial vehicle proximate to the container for retrieval. The vehicle positions itself to engage the cargo container using a grasping mechanism, and, responsive to engaging the cargo container, retracts the cargo container toward the vehicle. As the cargo container is retracted toward the vehicle, weight sensors within the retrieval mechanism sense the weight and the weight distribution of the cargo container, and, can modify the cargo container&#39;s location on the vehicle to optimize vehicle flight operations or replace the container on the ground and alert the operator that the cargo container is too heavy or has an improper weight distribution. Upon mating the cargo container with the vehicle, a coupling mechanism latches or secures the cargo container to the vehicle for further flight and/or ground operations.

RELATED APPLICATION

The present application relates to and claims the benefit of priority toU.S. Provisional Patent Application Nos. 62/609,107 filed 21 Dec. 2017and 62/610,659 filed 27 Dec. 2017, both of which are hereby incorporatedby reference in their entirety for all purposes as if fully set forthherein.

BACKGROUND OF THE INVENTION Field of the Invention

The invention pertains to the design of unmanned aerial vehicles andmore specifically, to autonomous retrieval and delivery of cargo usingunmanned aerial vehicles.

Relevant Background

Unmanned aerial vehicles (UAVs) are becoming increasingly feasible as ameans for commercial and military cargo delivery. Commercially, UAVswill be used to deliver individual packages or groups of packages tocustomers or distribution centers when roads are an inefficient orinaccessible means of transport. For defense, UAVs will be used toresupply soldiers that are geographically distant from operating baseswhen a ground vehicle or traditional air resupply is dangerous orinefficient.

While the execution of flight plans (takeoff, navigation from onewaypoint to the next until reaching the destination,sensing-and-avoiding other aircraft, landing) is becoming increasinglyroutine, user-friendly and automated, ground operations—the loading andunloading of cargo, guaranteeing the safety of people around the UAV andthe safety of the UAV itself—remain a challenge.

Cargo-carrying UAVs today typically require a degree of manual loadingand unloading of carried packages. Some, like the fixed-wing UAVs flownby Zipline, parachute-drop their cargo at the destination, avoiding theneed to land for delivery. Others, like the delivery drones flown byAmazon, have the ability to lower then automatically detach a cargocontainer or shipping box, allowing the UAV to immediately return to itsplace of origin such as a distribution center or delivery truck. Whileinteresting from a marketing perspective, these systems cannot providesufficient throughput to make them a cost-effective means by which todeliver cargo.

In order to permit high-throughput air cargo via UAV there is a need fora UAV cargo system that can reduce the amount of human involvementrequired to load and unload the carried cargo.

The safety of nearby humans around a UAV when it is on the ground istypically accomplished via a tightly scripted operator process and ahigh level of operational diligence. For example, verbal signals thatare issued by the UAV operator before starting the rotors spinning ortaking off. The UAV system itself typically has little to no awarenessof nearby people, which necessitates these processes to ensure safety.

In order to allow people to work near a large autonomous UAV safelythere is a need for mechanisms to allow the UAV to be aware of thepresence of nearby people and to guarantee that it will not harm themwith its rotors or movements. Nonetheless a high-throughput UAV mustretrieve and depart with cargo with minimal operator interaction toachieve a high-throughput and cost-effective autonomous cargo deliverysystem. These deficiencies of the prior art are addressed by one or moreembodiments of the present invention.

Additional advantages and novel features of this invention shall be setforth in part in the description that follows, and in part will becomeapparent to those skilled in the art upon examination of the followingspecification or may be learned by the practice of the invention. Theadvantages of the invention may be realized and attained by means of theinstrumentalities, combinations, compositions, and methods particularlypointed out in the appended claims.

SUMMARY OF THE INVENTION

A system, and associated methodology, to autonomously retrieve anddeliver a cargo container is hereafter disclosed. According to oneembodiment of the present invention an unmanned vehicle navigates on theground to the proximity of a cargo container designated for retrieval.Upon arriving in the cargo container's vicinity, on-board systemscollect data with respect to the local environment surrounding the cargocontainer to ascertain the cargo containers location, position andorientation. Using this information the vehicle positions itself astridethe cargo container and deploys a grasping mechanism to engage andretrieve the cargo container. Upon mating the cargo container with thevehicle, the container is securely affixed to the vehicle for furtherground and/or flight operations.

According to one embodiment of the present invention, a system forautonomous retrieval and delivery of cargo includes a vehicle and aplurality of devices associated with the vehicle wherein the pluralityof devices collect information regarding an environment proximate to thevehicle. These devices can include LIDAR, radio-frequency rangingtransceivers, optical systems, GPS, and the like. The system furtherincludes a cargo container that is distinct from the vehicle yet iscouplable to the vehicle. A grasping mechanism extends from the vehicleand engages the cargo container and, responsive to the graspingmechanism engaging the cargo container, a retraction and extensionmechanism retracts (or extends in other embodiments) the cargo container(also referred to herein as a cargo pod) towards (away from) thevehicle. Lastly, a coupling mechanism detachably affixes the cargocontainer to the vehicle when the retracting and extension mechanismmates the cargo container to the vehicle.

In one version of the present invention the vehicle is an UnmannedAerial Vehicle (“UAV”) that has one or more motors associated with itslanding gear assembly (“landing gear”) by which to move and position theUAV in proximity to the cargo container. In another version of thepresent invention, the system includes a vehicle control system thatanalyzes the collected data and issues commands to various components toposition the UAV, grasp, retrieve, and attach the cargo container. Thevehicle control system includes a machine capable of executinginstructions embodied as software and a non-transitory storage mediumhousing a plurality of software portions. One of the software portionsis configured to identify the cargo container within the environmentwhile another configured to position the grasping mechanism within apredetermined degree of alignment of the cargo container. In one versionof the present invention the predetermined degree of alignment allowsfor +/−6.75″ of lateral error, +/−7.5″ of longitudinal error, and 11degrees of angular error.

In yet another embodiment of the present invention, the vehicle includesa vehicle center of gravity and wherein the cargo container includes acargo container center of gravity and wherein, responsive to the cargocontainer being coupled with the vehicle, one of the software portionsis configured to modify the vehicle center of gravity based on the cargocontainer center of gravity. In one version of the present invention,the retraction and extension mechanism includes two or more flexiblecables, lines, straps or the like configured to suspend the cargocontainer, aligning the cargo container with the vehicle. The retractionand extension mechanism of the invention includes a plurality of cablesor the like and each cable is associated with a weight sensor. Using thesensors associated with each cable, the cargo container's total weightand weight distribution is determined.

In addition, the total weight and the distribution of the cargocontainer weight are communicated to the vehicle control system todetermine whether the center of gravity of the vehicle is adverselyaffected by the addition of the cargo container and whether the totalweight is within acceptable limits. In another version of the invention,the position of the cargo container as it is affixed to the vehicle, ismodified based on the center of gravity computations and in yet anotherembodiment, internal UAV weight and/or components are shifted tocompensate to maintain the center of gravity within predefined limits.For example fuel can be shifted from one storage tank to another tomaintain or optimize the vehicle's center of gravity.

Another embodiment of the present invention provides a method forautonomous retrieval and delivery of cargo beginning with collectinginformation regarding an environment proximate to a vehicle wherein theenvironment includes a cargo container. The collected data aids indetermining an orientation of the cargo container and the positioning ofthe vehicle in proximity with the cargo container to facilitate couplingthe cargo container to the vehicle.

Other aspects of the methodology of the present invention includedetermining geospatial location of the vehicle and the cargo containerusing the GPS system, a radio frequency positioning system, cameras orother optical sensors. These devices provide the system with data foridentifying the orientation of the cargo container with respect to thevehicle. Included in this process is locating the grasping mechanismproximate to the cargo container and within a predetermined amount ofalignment error to the cargo container.

Thereafter the grasping mechanism extends from the vehicle to engage andretract the cargo container. The retraction mechanism senses the cargocontainer total weight and weight distribution. Finally, the processconcludes with latching/affixing the cargo container to the vehicle.

The features and advantages described in this disclosure and in thefollowing detailed description are not all-inclusive. Many additionalfeatures and advantages will be apparent to one of ordinary skill in therelevant art in view of the drawings, specification, and claims hereof.Moreover, it should be noted that the language used in the specificationhas been principally selected for readability and instructional purposesand may not have been selected to delineate or circumscribe theinventive subject matter; reference to the claims is necessary todetermine such inventive subject matter.

BRIEF DESCRIPTION OF THE DRAWINGS

The aforementioned and other features and objects of the presentinvention and the manner of attaining them will become more apparent,and the invention itself will be best understood, by reference to thefollowing description of one or more embodiments taken in conjunctionwith the accompanying drawings, wherein:

FIG. 1 is a left front perspective view of a UAV approaching a cargocontainer for autonomous retrieval and delivery of cargo, according toone embodiment of the present invention;

FIG. 2 is a high-level block diagram of a system for autonomousretrieval and delivery of cargo, according to one embodiment of thepresent invention;

FIGS. 3A, and 3C are a top and side view, respectively, of a UAV inproximity to a cargo container and FIG. 3B is an expanded side view of asensor suite located in the nose of the UAV, according to one embodimentof the present invention;

FIGS. 4A, 4B. 4C and 4D are front and side views, respectively, of anunmanned aerial vehicle positioned for retrieval of a cargo containeraccording to one embodiment of the present invention;

FIG. 5 is a perspective view of a grasping and retrieval mechanismrelative to a cargo container, according to one embodiment of thepresent invention;

FIGS. 6A, 6B and 6C are side views of a first version of a graspingmechanism, according to one embodiment of the present invention, as itinteracts and engages support structure of the cargo container;

FIGS. 7A, 7B, 7C and 7D are side views of a second version of a graspingmechanism, according to one embodiment of the present invention, as itinteracts and engages support structure of the cargo container;

FIGS. 8A, 8B and 8C are an expanded view of the interaction and lockingmechanism of the grasping arm and support structure of the cargocontainer, according to one embodiment of the present invention;

FIGS. 9A and 9B present a top view of the centering motion of thegrasping mechanism, a centering guide and support structure of the cargocontainer, according to one embodiment of the present invention;

FIG. 10 is a perspective view of the grasping mechanism and theretraction mechanism, according to one embodiment of the presentinvention;

FIG. 11A and FIG. 11B each present side and top views of a cargocontainer subjected to an uneven environment and the graspingmechanism's engagement, according to one embodiment of the presentinvention;

FIG. 12A and FIG. 12B are side views of a cargo container center ofgravity repositioning system, according to one embodiment of the presentinvention;

FIG. 13A is a flowchart of one methodology, according to the presentinvention, for autonomously retrieving a cargo container with FIG. 13Bproviding a visual depiction of same; and

FIG. 14 is a flowchart of one methodology, according to the presentinvention, for repositioning a cargo container's center of gravity.

The Figures depict embodiments of the present invention for purposes ofillustration only. One skilled in the art will readily recognize fromthe following discussion that alternative embodiments of the structuresand methods illustrated herein may be employed without departing fromthe principles of the invention described herein.

DESCRIPTION OF THE INVENTION

An autonomous cargo container retrieval and delivery system locates aselect cargo container and maneuvers an unmanned aerial vehicleproximate to the container for retrieval. Recognizing the location andorientation of the cargo container, the vehicle positions itself toengage the cargo container using a grasping mechanism. Responsive toengaging the cargo container, the grasping mechanism, in conjunctionwith a retrieval mechanism retracts the cargo container toward thevehicle. As the cargo container is retracted toward the vehicle, weightsensors within the retrieval mechanism sense the total weight and theweight distribution of the cargo container. Upon mating the cargocontainer with the vehicle, a coupling mechanism latches or secures thecargo container to the vehicle for flight and/or ground operations.

Embodiments of the present invention are hereafter described in detailwith reference to the accompanying Figures. Although the invention hasbeen described and illustrated with a certain degree of particularity,it is understood that the present disclosure has been made only by wayof example and that numerous changes in the combination and arrangementof parts can be resorted to by those skilled in the art withoutdeparting from the spirit and scope of the invention.

The following description with reference to the accompanying drawings isprovided to assist in a comprehensive understanding of exemplaryembodiments of the present invention as defined by the claims and theirequivalents. It includes various specific details to assist in thatunderstanding but these are to be regarded as merely exemplary.Accordingly, those of ordinary skill in the art will recognize thatvarious changes and modifications of the embodiments described hereincan be made without departing from the scope and spirit of theinvention. Also, descriptions of well-known functions and constructionsare omitted for clarity and conciseness.

The terms and words used in the following description and claims are notlimited to the bibliographical meanings, but, are merely used by theinventor to enable a clear and consistent understanding of theinvention. Accordingly, it should be apparent to those skilled in theart that the following description of exemplary embodiments of thepresent invention are provided for illustration purpose only and not forthe purpose of limiting the invention as defined by the appended claimsand their equivalents.

By the term “substantially” it is meant that the recited characteristic,parameter, or value need not be achieved exactly, but that deviations orvariations, including for example, tolerances, measurement error,measurement accuracy limitations and other factors known to those ofskill in the art, may occur in amounts that do not preclude the effectthe characteristic was intended to provide.

Like numbers refer to like elements throughout. In the figures, thesizes of certain lines, layers, components, elements or features may beexaggerated for clarity.

The terminology used herein is for the purpose of describing particularembodiments only and is not intended to be limiting of the invention. Asused herein, the singular forms “a,” “an” and “the” are intended toinclude the plural forms as well, unless the context clearly indicatesotherwise. Thus, for example, a reference to “a component surface”includes reference to one or more of such surfaces.

As used herein any reference to “one embodiment” or “an embodiment”means that a particular element, feature, structure, or characteristicdescribed in connection with the embodiment is included in at least oneembodiment. The appearances of the phrase “in one embodiment” in variousplaces in the specification are not necessarily all referring to thesame embodiment.

As used herein, the terms “comprises,” “comprising,” “includes,”“including,” “has,” “having” or any other variation thereof, areintended to cover a non-exclusive inclusion. For example, a process,method, article, or apparatus that comprises a list of elements is notnecessarily limited to only those elements but may include otherelements not expressly listed or inherent to such process, method,article, or apparatus. Further, unless expressly stated to the contrary,“or” refers to an inclusive or and not to an exclusive or. For example,a condition A or B is satisfied by any one of the following: A is true(or present) and B is false (or not present), A is false (or notpresent) and B is true (or present), and both A and B are true (orpresent).

Unless otherwise defined, all terms (including technical and scientificterms) used herein have the same meaning as commonly understood by oneof ordinary skill in the art to which this invention belongs. It will befurther understood that terms, such as those defined in commonly useddictionaries, should be interpreted as having a meaning that isconsistent with their meaning in the context of the specification andrelevant art and should not be interpreted in an idealized or overlyformal sense unless expressly so defined herein. Well-known functions orconstructions may not be described in detail for brevity and/or clarity.

It will be also understood that when an element is referred to as being“on,” “attached” to, “connected” to, “coupled” with, “contacting”,“mounted” etc., another element, it can be directly on, attached to,connected to, coupled with or contacting the other element orintervening elements may also be present. In contrast, when an elementis referred to as being, for example, “directly on,” “directly attached”to, “directly connected” to, “directly coupled” with or “directlycontacting” another element, there are no intervening elements present.It will also be appreciated by those of reasonable skill in the relevantart that references to a structure or a feature that is “adjacent” toanother feature may have portions that overlap or underlie that feature.

Spatially relative terms, such as “under,” “below,” “lower,” “over,”“upper” and the like, may be used herein for ease of description todescribe one element or feature's relationship to another element(s) orfeature(s) as illustrated in the figures. It will be understood that thespatially relative terms are intended to encompass differentorientations of a device in use or operation in addition to theorientation depicted in the figures. For example, if a device in thefigures is inverted, elements described as “under” or “beneath” otherelements or features would then be oriented “over” the other elements orfeatures. Thus, the exemplary term “under” can encompass both anorientation of “over” and “under”. The device may be otherwise oriented(rotated 90 degrees or at other orientations) and the spatially relativedescriptors used herein interpreted accordingly. Similarly, the terms“upwardly,” “downwardly,” “vertical,” “horizontal” and the like are usedherein for the purpose of explanation only unless specifically indicatedotherwise.

Included in the description are flowcharts depicting examples of themethodology which may be used to autonomously retrieve and deliver acargo container as well as reposition the cargo container relative tothe vehicle to manipulate the vehicle's center of gravity. In thefollowing description, it will be understood that each block of theflowchart illustrations, and combinations of blocks in the flowchartillustrations, can be implemented by computer program instructions incombination with physical components. These computer programinstructions may be loaded onto a computer or other programmableapparatus to produce a machine such that the instructions that executeon the computer or other programmable apparatus create means forimplementing the functions specified in the flowchart block or blocks.These computer program instructions may also be stored in acomputer-readable memory that can direct a computer or otherprogrammable apparatus to function in a particular manner such that theinstructions stored in the computer-readable memory produce an articleof manufacture including instruction means that implement the functionspecified in the flowchart block or blocks. The computer programinstructions may also be loaded onto a computer or other programmableapparatus to cause a series of operational steps to be performed in thecomputer or on the other programmable apparatus to produce a computerimplemented process such that the instructions that execute on thecomputer or other programmable apparatus provide steps for implementingthe functions specified in the flowchart block or blocks.

Accordingly, blocks of the flowchart illustrations support combinationsof means for performing the specified functions and combinations ofsteps for performing the specified functions. It will also be understoodthat each block of the flowchart illustrations, and combinations ofblocks in the flowchart illustrations, can be implemented by specialpurpose hardware and/or computer systems that perform the specifiedfunctions or steps, or combinations of special purpose hardware andcomputer instructions.

Some portions of this specification are presented in terms of algorithmsor symbolic representations of operations on data stored as bits orbinary digital signals within a machine memory (e.g., a computermemory). These algorithms or symbolic representations are examples oftechniques used by those of ordinary skill in the data processing artsto convey the substance of their work to others skilled in the art. Asused herein, an “algorithm” is a self-consistent sequence of operationsor similar processing leading to a desired result. In this context,algorithms and operations involve the manipulation of informationelements. Typically, but not necessarily, such elements may take theform of electrical, magnetic, or optical signals capable of beingstored, accessed, transferred, combined, compared, or otherwisemanipulated by a machine. It is convenient at times, principally forreasons of common usage, to refer to such signals using words such as“data,” “content,” “bits,” “values,” “elements,” “symbols,”“characters,” “terms,” “numbers,” “numerals,” “words”, or the like.These specific words, however, are merely convenient labels and are tobe associated with appropriate information elements.

Unless specifically stated otherwise, discussions herein using wordssuch as “processing,” “computing,” “calculating,” “determining,”“presenting,” “displaying,” or the like may refer to actions orprocesses of a machine (e.g., a computer) that manipulates or transformsdata represented as physical (e.g., electronic, magnetic, or optical)quantities within one or more memories (e.g., volatile memory,non-volatile memory, or a combination thereof), registers, or othermachine components that receive, store, transmit, or displayinformation.

Upon reading this disclosure, those of skill in the art will appreciatestill additional alternative structural and functional designs for asystem and a process for autonomous retrieval and delivery of cargocontainers through the disclosed principles herein. Thus, whileparticular embodiments and applications have been illustrated anddescribed, it is to be understood that the disclosed embodiments are notlimited to the precise construction and components disclosed herein.Various modifications, changes and variations, which will be apparent tothose skilled in the art, may be made in the arrangement, operation anddetails of the method and apparatus disclosed herein without departingfrom the spirit and scope of the invention.

The realization and practical application of autonomous delivery ofcargo are predicated on the ability to achieve sufficient throughputthat makes such a system economical and profitable. Throughput ismaximized by achieving a high level of utilization of vehicle assets,and high utilization depends on efficient loading/unloading logistics ateach end of a haul. The system and associated methodologies of thepresent invention achieve efficient loading/unloading logistics in partby autonomously identifying, retrieving and depositing cargo containersat the beginning and end of missions.

According to one embodiment of the present invention, a vehicle such asan unmanned aerial vehicle receives information as to the geospatiallocation of a cargo container designated for retrieval. Knowing itsgeospatial location relative to that of the cargo container and datawith respect to the environment in which it operates, the vehiclerepositions itself to the general locale of the cargo container.

Once in the vicinity of the cargo container designated for retrieval,on-board sensors supply the vehicle with data regarding its immediateenvironment. Sensors such as LIDAR, UWB RADAR, Two-way transceivers, GPSand similar devices enable the vehicle to construct a picture of a localenvironment including a cargo container.

Recognizing the cargo container, its location, and its orientation, orhaving received prior accurate information of the location andorientation of the cargo container, the vehicle positions itselfproximate to the container within predetermined tolerances whereby agrasping mechanism can engage the container. Once engaged the containeris retracted toward the vehicle until contact is made whereby the cargocontainer is secured/affixed to the vehicle.

FIG. 1 presents a front right perspective view of a vehicle, in thiscase, an unmanned aerial vehicle, in relation to a cargo containerdesignated for retrieval.

In one embodiment of the present invention, the UAV 100 operates at atransportation hub, airport, cargo facility or similar terminal at whicha plurality of vehicles are marshalling. Upon arriving at the terminal,the UAV 100, in one embodiment, terminates operation of rotors or otherpropellers and repositions itself using motors associated with thevehicle's landing gear. In this version of the invention, each mainlanding gear wheel is associated with an independent electric motor.Using differential signals to each wheel and a steerable rear wheel, thevehicle can maneuver about the terminal. Having a map or internal datawith respect to the layout of the terminal as well as an ability toidentify its location at the terminal using GPS or similar positionaldetermination technology as would be known by one of reasonable skill inthe art, the vehicle can reposition itself from one location to another.In other embodiments of the present invention, the vehicle shares itslocation with a central facility management system and/or other nearbyvehicles to deconflict and safely manage the movement of vehicles andobjects (cargo containers) at the terminal facility.

FIG. 1 presents one version of the present invention in which anunmanned aerial vehicle 100 identifies its location relative to a cargocontainer 110 in a local environment. In one embodiment, the vehicleuses on-board systems to determine a path by which to arrive inproximity to the designated cargo container. In most instances the UAVwill taxi using preexisting taxiways and designated routes from itscurrent location to the staging area for cargo retrieval.

The cargo container 110, according to one embodiment of the presentinvention, is a self-contained vessel which is compatible with the UAV100. The container can be pre-loaded with cargo and prepositioned forretrieval in designated staging areas. For example, a worker can load acargo container with cargo and positioning it within a predefined areain a staging area. Once placed in the staging area, the cargo containercan be designated as ready for retrieval. In other embodiments, a robotor similar mechanism can place the cargo container in the staging area.

In the embodiment shown in FIG. 1, the cargo container 110 is anelongated vessel that is configured to hold cargo internally. Thecontainer is shaped to mate with the lower portion of a UAV with minimalimpact on the UAV's ability to conduct aerial operations.

FIG. 1 depicts a UAV having 6 rotors 105 and a single pusher propeller107 to facilitate vertical and horizontal flight. However, during groundoperations, the rotors and propellers are parked (secured) and allmovement is conducted via motors associated with each wheel. In thisembodiment, a reverse tricycle configuration is used in which each mainwheel is associated with an independent motor. The trailing rear wheelis steered using a third motor. In other embodiments the trailing rearwheel is free to caster.

As the UAV approaches the staging area on-board devices 120 sense theenvironment including the cargo container 110. The UAV positions itselfatop the cargo container so that ultimately the cargo container ispositioned directly below the UAV.

A plurality of devices 120 on-board the vehicle provide data to assistthe UAV to place itself in a position whereby it can grasp and retrievethe cargo container. According to one embodiment of the presentinvention, both the UAV and the cargo container are equipped with GPSreceivers 125 that can provide fine resolution of not only the locationof the cargo container relative to the UAV but also its orientation. Inother embodiments, the cargo container can possess fiducial markers 130that are recognized by optical systems 135 resident on the UAV. Afiducial marker or fiducial is an object placed in the field of view ofan imaging system which appears in the image produced, for use as apoint of reference or a measure.

As the UAV approaches the cargo container, an optical system can detectmarkers located at strategic locations on the cargo container. In FIG.1, the cargo container is shown to possess 5 separate markers 130 thatcan be analyzed by the on-board optical system 135 of the UAV. Using anoptical system 135, comprised of cameras and associated instructionsexecuted by the vehicle control system, the UAV recognizes the cargocontainer 110, its identity, as well its location and orientation andcan make fine adjustments of the UAV's position to facilitate retrievalof the cargo container.

In another embodiment, the cargo container and UAV use two-way radiofrequency, time of flight calculations to determine the cargocontainer's position relative to the UAV. In one embodiment the cargocontainer includes a plurality of transceivers (not shown) located atkey points on the container. By using Two Way Ranging and Time Distanceof Arrival calculations, a precise location of an object can bedetermined within a geographic area. Using such a technique, the presentinvention can identify the position and orientation of the cargocontainer relative to the UAV with high accuracy.

In other embodiments, a LIDAR system 137 can be employed to providerelative distance data between the UAV and the cargo container. LIDAR(also called Lidar, LiDAR, and LADAR) is a surveying method thatmeasures distance to a target by illuminating the target with pulsedlaser light and measuring the reflected pulses with a sensor.

Yet another version of the present invention includes the placement ofthe pod in a precise position and orientation. For example clear anddefinitive outlines 140 or depressions can be placed on (in) the groundto ensure that the container's position and location is predetermined.As the vehicle approaches it merely needs to understand its positionwith respect to a fixed geographic point. Upon reaching that point, andwith the cargo container precisely positioned at its location, thevehicle can begin the collection/grasping process without actuallysensing or identifying the cargo container. In this approach thevehicles first awareness of the presence of the cargo container would bewith the grasping mechanism makes initial contact with the cargocontainer.

As will be readily apparent to one of reasonable skill in the relevantart, the present invention integrates devices capable of capturing andproviding spatial data to the vehicle for analysis and action. Whileseveral systems have been presented herein, one of reasonable skill inthe relevant art will recognize that other sensors and data collectionsystems are viable alternates and contemplated within the scope of thepresent invention.

One aspect of the present invention during the retrieval of a cargocontainer by a vehicle is using increasingly accurate means by which toidentify and modify the relative spacing and orientation separating thetwo objects. Recall that the vehicle must first locate itself on aterminal or similar environment and navigate to be proximate to a cargocontainer designated for retrieval. And upon arriving at the stagingarea the vehicle must refine its position based on the local conditions.

The vehicle's ability to collect and analyze data and position itself soas to retrieve a designated or select cargo container is managed by avehicle control system. FIG. 2 shows a high-level block diagram of avehicle control system according to one embodiment of the presentinvention.

As shown, the vehicle control system 210 comprises a central processingunit(s) (CPU) or processor(s) 212 coupled to a random-access memory(RAM), a read-only memory (ROM), a removable (mass) storage device(e.g., floppy disk, CD-ROM, CD-R, CD-RW, DVD, or the like), a fixed(mass) storage device 214 (e.g., hard disk), a communication (COMM)port(s) or interface(s) 216, a network interface card (NIC) 218 orcontroller (e.g., Ethernet) and a user interface, (UI) 219. Although notshown separately, a real-time system clock is included with the system,in a conventional manner.

Aspects of the systems and methods described herein may be implementedas functionality programmed into any of a variety of circuitry,including programmable logic devices (PLDs), such as field programmablegate arrays (FPGAs), programmable array logic (PAL) devices,electrically programmable logic and memory devices and standardcell-based devices, as well as application specific integrated circuits(ASICs). Some other possibilities for implementing aspects of thesystems and methods include microcontrollers with memory (such aselectronically erasable programmable read-only memory (EEPROM)),embedded microprocessors, firmware, software, etc. Furthermore, aspectsof the systems and methods may be embodied in microprocessors havingsoftware-based circuit emulation, discrete logic (sequential andcombinatorial), custom devices, fuzzy logic (in neural networks),quantum devices, and hybrids of any of the above device types.

Communicatively coupled to the vehicle control system are a plurality ofdevices 220 operable to collect data with respect to the vehicle'slocation, surrounding environment, operation and status. Similarly, thevehicle control system 210 is communicatively coupled to the flightcontrol system 230 for airborne operations and to the drive system 235of ground operations. Lastly, the vehicle control system 210 integrateswith the grasping mechanism 240, the retraction and extension mechanism245 and the coupling mechanism 250.

FIG. 2 also presents a block diagram of a cargo container 110. While inone embodiment the cargo container is a passive device and may onlyinclude fiducials 130 located on the container's exterior, in otherembodiments the container includes a GPS receiver 260 and/orcommunication devices 265 to convey its location to a facilitymanagement system and/or directly to a vehicle's vehicle control system.Similarly, the cargo container may include a plurality of transceivers270 by which two-way ranging between the cargo container and the vehiclecan be accomplished. Indeed, by placing two more transceivers or GPSreceivers 260 on the cargo container the location and orientation of thecargo container relative to the vehicle can be determined. Additionally,the cargo container's communication system can transmit data such as itslocation, state and orientation to both vehicles and the facilitymanagement system.

As the UAV 100 arrives near the staging area and as depicted in FIG. 3A,the on-board devices (sensors) 220 gather data with respect to the localenvironment to positively identify the cargo container 110 and determinethe container's orientation relative to the vehicle. As illustrated inFIG. 1 and FIG. 3A, the cargo container 110 may be within the stagingarea but not perfectly aligned with the vehicle 100. Using a pluralityof on-board devices 220 shown in FIG. 3B, the vehicle 100 positionsitself within a predetermined degree of alignment.

Once astride the cargo container as shown in FIGS. 4A-4D, and accordingto one embodiment of the present invention, a grasping mechanism, inassociation with an extension and retrieval mechanism, is dispatchedfrom the undercarriage of the UAV. As described herein, the graspingmechanism is coupled to the extension and retrieval mechanism by two ormore cables. As the grasping mechanism contacts the cargo container thecables go slack or less weight is sensed than is normal for the graspingmechanism at the extension and retrieval mechanism. Once contact withthe cargo container is established, the grasping mechanism extendslongitudinally to engage the container.

FIGS. 4A-4D presents front and side views, respectively, of retractionand retrieval of a cargo container according to one embodiment of thepresent invention. Similarly, FIG. 5 presents a side perspective view ofthe grasping mechanism as it interacts and engages the cargo container.Referring conjunctively to FIGS. 4A-D and FIG. 5, the vehicle 100, a UAVin this example, positions itself astride the prepositioned cargocontainer 110. In perfect conditions, the cargo container's longitudinalcenterline 305 would be aligned with the longitudinal axis (centerline)of the vehicle 310. Similarly, in perfect conditions, the vehicle wouldposition itself fore and aft 430 along the longitudinal axis to placethe cargo container directly below the grasping mechanism.Unfortunately, perfect conditions do not always exist.

The present invention provides a means by which a vehicle, such as aUAV, can, with increasing accuracy, position itself within the proximityof a cargo container. At a starting point, the UAV and cargo containermay be separated by a significant distance. Using on-board systems, theUAV can identify its geospatial location and receive data wirelesslywith respect to the location and identity of a designated cargocontainer for retrieval.

With the UAV location and the location of the cargo container in-hand,the UAV determines a path by which to relocate to the cargo container'sproximity. As the UAV arrives within a predetermined distance of thecargo container on-board devices are triggered to detect the cargocontainer and refine the UAV's relative position and orientation.

For example, assume a preloaded cargo container is placed on a loadingplatform at an air terminal. The loading platform provides an outlineregion on the tarmac in which the cargo container is preferably located,however exact placement is not guaranteed. At the same time a UAV,having returned from a recent delivery, has been tasked to retrieve therecently prepositioned cargo container and delivery to a distantlocation.

The UAV includes a GPS receiver that provides its vehicle control systemwith the UAV's location. The UAV also includes data with respect tosuitable pathways on which to navigate once it arrives at the airterminal. Using the UAV's communication capability, the UAV receivesinstructions to retrieve the cargo container, the cargo container'sidentity and the cargo container's location at the air terminal.

With such information, the UAV autonomously navigates to the proximityof the cargo container, while avoiding other UAV and obstacles. To do sothe UAV uses on-board devices (sensors) to identify obstacle or hazardsthat may interfere with its ability to reach the location of the cargocontainer or present unsafe operating conditions.

As the UAV nears the proximity of the cargo container, on-board devicesprovide local data to the UAV with more detailed information about thecargo container's location and orientation. Using the collected data,the UAV positions itself astride the container, aligned with thecenterline (longitudinal axis) of the cargo container to the best of itsability. Using motors driving wheels on each main landing gear and, inone embodiment, a motor to steer the rear wheel, the UAV makes fineadjustments with respect to its alignment so as to rest astride thecargo container within a predetermined degree of alignment. In oneembodiment of the present invention, the predetermined degree ofalignment is +/−6.75″ of lateral error 410, +/−7.5″ of longitudinalerror 420, and 11 degrees of angular error 1145. Recall that the primarydriver for the predetermined degree of alignment is the ability of thegrasping mechanism to make contact with the cargo container and engagethe support cross-bars. According, as the size of the cargo containervaries, the predetermined degree of alignment will correspondinglychange.

As depicted in FIGS. 4B-C, once positioned, a grasping mechanism lowers,engages the cargo container, and retracts 440 the cargo container towardthe UAV whereby it is coupled to the UAV for flight operations as shownin FIG. 4D.

A side view of one embodiment of a grasping mechanism 510, according tothe present invention, is shown in FIG. 5. In the example shown in FIG.5 the grasping mechanism 510 is extended from the lower portion of thecentral fuselage of the UAV 100. One of reasonable skill in the relevantart will recognize that other configuration with respect to the locationof the grasping mechanism as associated with the vehicle are possibleand indeed contemplated. For example, in other embodiments a UAV mayhave the capacity to carry multiple cargo containers, or have theability to carry asymmetrical loads on outboard stations of the UAV. Inanother embodiment, grasping mechanisms are located on each lateral boomenabling a UAV to carry 2 or more cargo containers. All of these andother embodiments are contemplated with respect to the present inventionand are to be viewed as within the scope of the present disclosure.

As shown in FIG. 6 the grasping mechanism 510 extends from the vehicleon the cable system. The grasping mechanism comprises a substantiallylongitudinal member that is suspended from the vehicle by two or morecables, webbing strap, or the like 610. Each cable is flexible andenables the grasping mechanism to dangle freely under the vehicle priorto making contact with the cargo container. The mechanism's longitudinalmember includes a front 615 and a rear 620 portion interposed by acentral expansion section 630. The expansion section enables thegrasping device to lengthen longitudinally upon contact with the cargocontainer. In one embodiment the design of the expansion mechanism issubstantially tubular, having overlapped concentric tubes with a centralscrew or worm gear to extend and contract the mechanism. When extendedfrom the vehicle, the grasping mechanism is withdrawn or compressedlongitudinally and at its minimal length.

Each end of the grasping mechanism includes, in one embodiment, anelongated bill 635 or beak shape on the grasping mechanisms upper edge.The elongated bill resolves to a “C” or “U” shaped mouth 640. After thegrasping mechanism makes contact with the cargo container, it extendslongitudinally in length. A structural component of the cargo container650 interacts with the grasping mechanism within the “C”/“U” cavity ofthe grasping mechanism. The upper bill portion supports the graspingmechanism until the cargo container's structural component presentsitself to the base of the “C”/“U” cavity. In other versions internalcross-bars support the grasping mechanism prior to engaging thestructural components. One of reasonable skill in the relevant art willappreciate that the dimensions and the proportions of the elongated billand the shorter lower portion may vary and are shown, in these figures,as demonstrative examples.

FIGS. 7A, 7B, 7C and 7D present a second version of the graspingmechanism according to one embodiment of the present invention. As withthe prior version, an elongated structure is dispatched from theundercharge of the vehicle in a contracted stated and suspended by astrap, webbing, cable or similar flexible material. Each end of thegrasping mechanism comprises a “C” or “U” opening 640 which isconfigured to engage a support structure 650 resident on the cargocontainer.

As shown in FIG. 7A the grasping mechanism 510 descends from the vehiclein a shortened/contracted state so that the openings are inside eachcargo container support structure. Two or more cross-bars 710 supportthe central portion of the grasping mechanism and enabling it to rest onthe cargo container as shown in FIG. 7B prior to engaging the supportstructure.

Thereafter the grasping mechanism extends, as shown in FIG. 7C, until“C” or “U” shaped opening 640 engages each of the cargo container'ssupport structures 650. In this version of the grasping mechanism apositive force is exerted by the grasping mechanism against each supportstructure 650 to ensure each opening remains engaged. With the graspingmechanism fully engaged with the support structures of the cargocontainer, the grasping mechanism and the cargo container are retracted660 toward the undercarriage of the vehicle as shown in FIG. 7D.

FIGS. 8A-8C is an expanded view of one end of the first version of thegrasping mechanism, according to one embodiment of the presentinvention. Shown in FIG. 8 are the elongated bill 835 and shorter lowerextension 850 that forms a “C” or “U” shaped cavity 640 at the end ofthe grasping mechanism. A side cutaway view of a cargo containerstructural component is also shown.

As the structural component 650 is guided into the “C” or “U” shapedcavity 640 a sensor at the base of the cavity detects when the cavityhas engaged the structural component, triggering a halt to the extensionaction. Once engaged and the grasping mechanism is securely coupled tothe cargo container, the retraction process can be initiated.

FIG. 9A presents a top view of a grasping mechanism 510 interacting withthe cargo container 110 according to one embodiment of the presentinvention. The top view of the cargo container shown in FIG. 8 maintainstwo cross-bars 910 that span the width of the cargo container. As beforethe cross-bars 960 are located equidistant from the center of thecontainer. Associated with each cross-bar are triangular guides 920 thatrest within the corner of the cargo container positioned slightly abovethe top surface of the cross-bar. The triangular guides 920 rest on topof the structural cross-bar 950 and are of a thickness such that theelongated bill of the grasping mechanism can rest without interferingwith the lower extension or cavity.

As the grasping mechanism lengthens, the force 955 exerted against thetriangular guides 920 creates a centering component force 960. Thatcentering force drives the grasping mechanism to a central location, asshown in FIG. 9B of the cross-bars at which point the grasping mechanismcan engage and couple with the cargo container structural component 950.

Responsive to the grasping mechanism 510 being fully engaged and coupledwith the structural components of the cargo container, the retractionand extension mechanism can retrieve the cargo container toward theundercarriage of the UAV. FIG. 10 is a representation of a motor-drivenretraction and extension mechanism 1010 according to one embodiment ofthe present invention. The retraction and extension mechanism employscables, durable webbing, lines or similar flexible material 1020 fromwhich to suspend the cargo container during the retraction/extensionprocess.

Having a flexible retraction and extension mechanism enables the weightof the cargo container to be sensed at each attachment point and toutilize gravity to further refine the alignment of the cargo containerto that of the UAV.

FIGS. 11A and 11B present a side, end and top view of a misaligned cargocontainer 110 as it interacts with the grasping, retraction andextension mechanism of the present invention. FIG. 11A shows a cargocontainer 110 that rests on an uneven surface 1120. The cargo containeris elevated on one end 1125, leaning to one side 1135 and is cantedlongitudinally 1145. Indeed, the cargo container is misaligned with theUAV/grasping mechanism in all three axes. Referring to FIG. 11A, as thegrasping mechanism 510 extends from the UAV the leftmost end of theelongated bill engages the triangular guides 920 located on that end ofthe cargo container 110. As the right end of the extension mechanismcontinues to extend, the right side of the grasping mechanism, the rightportion of the grasping mechanism makes contact with a triangular guidelocated on the right side of the cargo container.

At this point, the grasping mechanism is in contact with the triangularguides 920 of the cargo container and different lengths of cable 610have been extended from two independent retraction/extension mechanism.In addition, the grasping mechanism, while in contact with thetriangular guides, is canted with respect to the lateral deviation 1135of the cargo container.

As the grasping mechanism elongates, the triangular guides adjust thelocation of the grasping mechanism to be aligned with the centerline1150 of the cargo container 110 and engaged with the structuralcomponent 650/(cross-bars) of the cargo container. Once engaged with thestructural component 650, a locking cam 860 of the grasping mechanism510 secures the grasping mechanism to the cargo container.

When the locking cam 860 indicates that the cargo container 110 issecurely coupled to the grasping mechanism 510, the retraction andextension mechanism 1010 begin to retract the extended cable 610.Recognizing that the lengths of extended cable are not the same, theright retraction and extension mechanism 1010, in one embodiment,retracts first lifting the right portion of the cargo container off theground. When the cable lengths become equal, both retraction andextension devices, retract their cables lifting the cargo container offthe ground in its entirety.

Once the cargo container is no longer in contact with the ground,gravity will reposition the cargo container to be longitudinally andlaterally aligned with the UAV. As the cargo container is retracted,sensors within each retraction and extension mechanism 1010 sense thetotal weight of the cargo container and the cargo container's weightdistribution. Using this data, the vehicle control system, inconjunction with the flight control system, can determine if, and how,the added weight and weight distribution of the cargo container changesthe UAV's center of gravity.

The retraction and extension mechanism retracts the cargo containeruntil it mates with the UAV as depicted in FIG. 4D. The upper portion ofthe cargo container is formed to match the lower portion of the UAV tofacilitate aerodynamic effects during flight. Once in position on theundercarriage of the UAV, a coupling mechanism 250 secures the cargocontainer 110 to the UAV 100. As one of reasonable skill in the relevantart will appreciate, flight loads can significantly modify structuralrequirements on aircraft. While a typical design load on ground-basedequipment may be 1.5 of the expected maximum load, aircraft structureshave to consider flight conditions that may place significantly largerloads on components due to acceleration forces. For manned aircraft, 6-9times of normal gravitational loads must be considered and for drones 10or more times of normal gravity is possible. Rather than require thedesign of the retraction and extension mechanism as well as the graspingmechanism to be robust enough to hand such dynamic loads, one embodimentof the present invention has a dedicated coupling mechanism 250 tocouple the cargo container to the vehicle and the cargo container isaligned and properly positioned.

Upon mating the cargo container with the undercarriage of the UAV, acoupling mechanism 250 detachably affixes the cargo container to thevehicle. In one embodiment, a plurality of shear pins traverse aplurality of coupling joints to secure the cargo container to the UAV.The retraction and extension mechanism 1010 is then relaxed placing eachof the shear pins in double shear. When the UAV arrives at itsdestination, the retraction and extension mechanism is again engaged totake the static load off the shear pins whereby they are retracted so asto enable extension and delivery of the cargo container.

Another feature of the present invention is the ability to manipulatethe location of the cargo container along the longitudinal axis 310 ofthe UAV 110 to control the UAV's center of gravity. The center ofgravity (CG) of an aircraft is the point over which the aircraft wouldbalance if not in contact with the ground. The center of gravity affectsthe stability of the aircraft during flight. To ensure the aircraft issafe to fly and perform optimally, the center of gravity must fallwithin specified limits.

When the fore-aft center of gravity (CG) is out of range seriousaircraft control problems occur. The fore-aft CG affects thelongitudinal stability of the aircraft, with the stability increasing asthe CG moves forward, and stability decreasing as the CG moves aft. Witha forward CG position, although the stability of the aircraft increases,flight control authority is reduced. An aft CG position creates severehandling problems due to the reduced pitch stability and increasedflight control sensitivity, with the potential loss of aircraft control.

The center of gravity is even more critical for rotor aircraft than itis for fixed-wing aircraft (weight issues remain the same). As withfixed-wing aircraft, a rotor aircraft may be properly loaded fortakeoff, but near the end of a long flight when the fuel tanks arealmost empty, the CG may have shifted enough for the rotor aircraft tobe out of balance laterally or longitudinally. Improper balance of arotor aircraft's load can result in serious control problems. Inaddition to making a rotor aircraft difficult to control, anout-of-balance loading condition also decreases maneuverability sincedifferential lift control is less effective in the direction opposite tothe CG location.

According to one embodiment of the present invention, a total weight ofthe cargo container is determined by the two or more retraction andextension mechanisms once the cargo container is suspended below theUAV. Additionally, each retraction and extension mechanism operatesindependently and independently determines its weight component to thecargo container's total weight. This information is communicated to thevehicle control system whereby the cargo container's total weight andweight distribution is determined. Knowing the prior UAV center ofgravity as well as the predefined limits for the center of gravity underwhich UAV may safely operate, a new, modified, center of gravity can bedetermined. This modified, center of gravity reflects the UAV center ofgravity when the cargo container is retracted toward and coupled to theUAV.

In another embodiment of the present invention, the longitudinalplacement of the cargo container on the exterior of the UAV can bemodified. In one version the entirety of the grasping mechanism and twoor more retraction and extension mechanisms (the lifting system) existson a movable carriage or track. Once the cargo container is in closeproximity with the UAV, but prior to coupling the cargo container to theUAV, the lifting system moves forward or aft along a track to modify thelocation on the UAV at which the additional weight of the cargocontainer is coupled. Multiple attachment points can exist along thetrack by which the shear pins can affix the cargo container to the UAV.

Considering the example shown in FIG. 12, whereby the two or moreretraction and extension mechanisms are coupled to central supportstructures 1210. As the cargo container 110 mates with the UAV 100, thevehicle control system senses the weight of the container and the weightdistribution. Using this information the vehicle control systemdetermines if the UAV's center of gravity, with the cargo container inits current position, remains within the acceptable flight limits. Thevehicle control system also determines the optimal position of the UAVfor flight operations. For example, movement of the cargo container foreor aft may enable more optimal cruise conditions to maximize fuelendurance or maneuverability during takeoff and landing operations.

In this example, the vehicle control system determines that UAVperformance can be optimized by placing the cargo container's weightfurther aft along the centerline of the fuselage. The central support isshifted aft 1230 as shown in FIG. 12B moving the cargo container aftalong with UAV's longitudinal axis. Once the cargo container reaches itsdesired location, the coupling mechanism 250 affixes the cargo container110 to the vehicle 100 for flight operations. One of reasonable skill inthe relevant art will appreciate that numerous means exist by which toreposition the cargo container along the longitudinal exist of thevehicle. While the two options presented here are viable options, othersare contemplated and remain with the scope of the present invention.

FIGS. 13 and 14 are flowcharts depicting examples of the methodologywhich may be used to autonomously retrieve and deliver a cargo containeras well as reposition the cargo container relative to the vehicle tomanipulate the vehicle's center of gravity. The steps described hereinare accomplished via a combination software, firmware and hardwarepositioned on the vehicle and the cargo container. Certainly, othercomponents many interact with both the vehicle and the cargo containerto enable the autonomous retrieval and delivery of a cargo container,however, the steps and processes described herein fundamentally relateto the vehicle and container.

The process by which a cargo container is autonomously retrieved fordelivery by a vehicle begins 1305 with collecting 1310environmental/locational information proximate to the vehicle. Suchinformation is acquired via on-board devices or is communicated to thevehicle from other data sources. For example, the vehicle may be able tosense certain aspects of its surrounding environment using on-boardsensors while at the same time general geographic information orinformation as to local operations can be transmitted or transferred tothe vehicle.

In one embodiment of the present invention, on-board sensors determine1315 the geospatial location of the vehicle. For purposes of the presentinvention a geospatial location is the location of the vehicle using aglobal or standardized coordinate system. For example, the vehicle, inone embodiment, may include one or more GPS receivers to provide thevehicle with its geospatial location at a terminal or cargo facility.Knowing the vehicle's position, the process continues by receiving 1320information concerning the geospatial location of a cargo container.

The geospatial location of the cargo container can be used to determine1338 its location relative to the vehicle. With such information andadditional data regarding the local environment, such as air terminal orcargo terminal layout, the vehicle control system can plan a path bywhich the vehicle can navigate from its current location to theproximity of the cargo container.

Referring in addition to FIG. 13B, the process to autonomously retrievea cargo container 110 continues by gaining additional data with respectto immediate vicinity surrounding the cargo container. Recall that thevehicle has navigated from its initial location to the proximity of thecargo container using on-board mapping, dead reckoning, known pathways,GPS data and the like. Having arrived near the cargo container thevehicle, in one embodiment, determines the orientation 1335 of the cargocontainer relative to that of the vehicle. Using optical systems,fiducial markers, two-way time-of-flight calculations, LIDAR, RADAR andother systems, the vehicle determines the position and orientation ofthe cargo container. In another embodiment, the vehicle relies on priorpredetermined information of the exact location and orientation of thecargo container in lieu of real-time sensor measurement. In thisembodiment, the cargo container is prepositioned with sufficientaccuracy that on-board vehicle sensors are not required to place thevehicle in position for recovery of the container. With suchinformation, the vehicle control system positions 1340 the vehicleproximate (astride) the cargo container and in position to lower thegrasping mechanism.

Astride the cargo container, the vehicle deploys 1350 the graspingmechanism proximate to the cargo container. As the grasping mechanismdescends from the undercarriage of the vehicle a portion of the graspingmechanism makes contact with the upper portion or an upper structuralcomponent of the cargo container. In one embodiment a central portion ofthe grasping mechanism rests on two cross-bars that span the cargocontainer and in other embodiments an elongated bill associated with thegrasping mechanism rests on either a triangular guide or a cross-bar.

Once in contact with the cargo container the grasping mechanism extendslengthwise until each end of the grasping mechanism engages and couplesto a structural component of the cargo container. In other embodimentsthe grasping mechanism engages a triangular guide which channels thegrasping mechanism to the support cross-bar structural component.

Responsive to the grasping mechanism having engaged/coupled with thecargo container, the retraction and extension mechanism beginsretracting 1360 the cargo container toward the vehicle. As the cargocontainer is suspended below the vehicle, the cargo container aligns1365 with the vehicle. For example, if the cargo container is in theproximity and within a predefined degree of alignment but nonetheless,misaligned or miss-positioned, gravity will reposition and realign thecargo container to the vehicle.

As the cargo container is retracted toward the vehicle, the cargocontainer's weight and the cargo container's weight distribution issensed 1370 and reported to the vehicle control system. Upon makingcontact with the vehicle the cargo container is affixed 1380 to thevehicle by the coupling mechanism to enable the cargo container toremain securely attached to the vehicle during flight operations. Oncethe cargo container is security affixed to the vehicle, the retractionand extension mechanism is relaxed slightly to extend the mechanism'slifespan.

Data collected with respect to the cargo container's weight and weightdistribution is used to modify 1390 the system's understanding of thevehicle's center of gravity. The new total weight of the vehicle and thenewly determined center of gravity are then verified as being within anacceptable range before signaling to the vehicle that it can relocateand initiate delivery operations, ending 1395 the retrieval process.

One of reasonable skill in the relevant art will recognize that theparticular naming and division of the modules, managers, functions,systems, engines, layers, features, attributes, methodologies, and otheraspects are not mandatory or significant, and the mechanisms thatimplement the invention or its features may have different names,divisions, and/or formats. Furthermore, as will be apparent to one ofordinary skill in the relevant art, the modules, managers, functions,systems, engines, layers, features, attributes, methodologies, and otheraspects of the invention can be implemented as software, hardware,firmware, or any combination of the three. Of course, wherever acomponent of the present invention is implemented as software, thecomponent can be implemented as a script, as a standalone program, aspart of a larger program, as a plurality of separate scripts and/orprograms, as a statically or dynamically linked library, as a kernelloadable module, as a device driver, and/or in every and any other wayknown now or in the future to those of skill in the art of computerprogramming. Additionally, the present invention is in no way limited toimplementation in any specific programming language, or for any specificoperating system or environment. Recall, the disclosure of the presentinvention is intended to be illustrative, and not limiting, of the scopeof the invention.

Portions of the present invention can be implemented in software.Software programming code which embodies the present invention istypically accessed by a microprocessor from long-term, persistentstorage media of some type, such as a flash drive or hard drive. Thesoftware programming code may be embodied on any of a variety of knownmedia for use with a data processing system, such as a diskette, harddrive, flash, or the like. The code may be distributed on such media ormay be distributed from the memory or storage of one computer systemover a network of some type to other computer systems for use by suchother systems. Alternatively, the programming code may be embodied inthe memory of the device and accessed by a microprocessor using aninternal bus. The techniques and methods for embodying softwareprogramming code in memory, on physical media, and/or distributingsoftware code via networks are well known and will not be furtherdiscussed herein.

In other embodiments of the present invention the vehicle can retrieveor deliver a cargo container in a semi-autonomous mode of operations. Inthis version of the invention, the vehicle can receive information withrespect to the location of a cargo contain positioned for retrieval. Thevehicle can self-navigate to the location without necessarily usingon-board sensors to identify the container or its position with respectto the vehicle. The cargo container is positioned precisely and itslocation and orientation are communicated to the vehicle. For example acargo container is placed in a loading area and its exact location (GPS)and its orientation are measured and verified by an operator. Theoperator may use a GPS receiver to record the exact location of thecontainer or even certain portions of the container, or, alternatively,a picture can be taken of the container in its location such thatfiducial markers on the ground and container can be seen and analyzed.Knowing the exact location of the markers on the ground, and therelation of the container to those markers, the location and orientationof the container can be communicated to the vehicle. Once astride thecontainer, the vehicle can then use on-board systems to verify the exactlocation of the container to initiate the grasping process.

Turning attention to FIG. 14, a process for modifying and/or optimizinga vehicle's center of gravity begins 1405 with sensing 1410 the cargocontainer's weight and the cargo container's weight distribution. Asshown before in FIG. 13, a new or modified vehicle center of gravity isdetermined 1420 based on the weight distribution of the cargo containerand an inquiry is thereafter made as to whether 1430 the new center ofgravity falls within acceptable flight limits. If the answer is no, thecargo container is repositioned 1450 fore or aft until the modifiedcenter of gravity falls within acceptable flight limits. Note that ifthe total weight of the aircraft is beyond acceptable flight limits, thevehicle control system, in one embodiment of the present invention,rejects the cargo container, resulting in the retraction and extensionmechanism to place the cargo container back on the ground and detach thegrasping mechanism.

Responsive to the vehicle control system confirming that the center ofgravity of the vehicle, with newly added cargo container attached, iswithin acceptable operating limits, the mission profile is considered1460. Knowing the mission profile for delivery of the cargo container,an inquiry is made whether the center of gravity of the vehicle isoptimized for flight operations. If the response to the inquiry is no,the vehicle control system again repositions the cargo container for oraft to optimize the performance of the vehicle, all the while retainingthe center of gravity within acceptable flight limits. With the cargocontainer attached and the newly computed center of gravity both withinacceptable flight lights and optimized for flight operations, theprocess terminates 1495.

Recall that portions of the invention may be implemented via softwareexecuted on a machine such as a general purpose computing device. Such adevice may take the form of a conventional personal computer, a personalcommunication device or the like, including a processing unit, a systemmemory, and a system bus that couples various system components,including the system memory to the processing unit. The system bus maybe any of several types of bus structures including a memory bus ormemory controller, a peripheral bus, and a local bus using any of avariety of bus architectures. The system memory generally includesread-only memory (ROM) and random access memory (RAM). A basicinput/output system (BIOS), containing the basic routines that help totransfer information between elements within the personal computer, suchas during start-up, is stored in ROM. The computer may further include ahard disk drive for reading from and writing to a hard disk, a magneticdisk drive for reading from or writing to a removable magnetic disk. Thehard disk drive and magnetic disk drive are connected to the system busby a hard disk drive interface and a magnetic disk drive interface,respectively. The drives and their associated computer-readable mediaprovide non-volatile storage of computer readable instructions, datastructures, program modules and other data for the personal computer.Although the exemplary environment described herein employs a hard diskand a removable magnetic disk, it should be appreciated by those skilledin the art that other types of computer readable media which can storedata that is accessible by a computer may also be used in the exemplaryoperating environment. Embodiments of the present invention as havingbeen herein described may be implemented with reference to variouswireless networks and their associated communication devices.

While there have been described above the principles of the presentinvention in conjunction with a system for autonomous retrieval anddelivery of a cargo container, it is to be clearly understood that theforegoing description is made only by way of example and not as alimitation to the scope of the invention. Particularly, it is recognizedthat the teachings of the foregoing disclosure will suggest othermodifications to those persons skilled in the relevant art. Suchmodifications may involve other features that are already known per seand which may be used instead of or in addition to features alreadydescribed herein. Although claims have been formulated in thisapplication to particular combinations of features, it should beunderstood that the scope of the disclosure herein also includes anynovel feature or any novel combination of features disclosed eitherexplicitly or implicitly or any generalization or modification thereofwhich would be apparent to persons skilled in the relevant art, whetheror not such relates to the same invention as presently claimed in anyclaim and whether or not it mitigates any or all of the same technicalproblems as confronted by the present invention. The Applicant herebyreserves the right to formulate new claims to such features and/orcombinations of such features during the prosecution of the presentapplication or of any further application derived therefrom.

We claim:
 1. A system for autonomous retrieval and delivery of cargo,the system comprising: a vehicle; a plurality of devices associated withthe vehicle and vehicle control system wherein the plurality of devicescollect information regarding an environment proximate to the vehicle; acargo container wherein the cargo container is distinct from the vehicleand wherein the cargo container is couplable to the vehicle; a graspingmechanism, wherein the grasping mechanism extends from the vehicle andengages the cargo container; a retraction and extension mechanismcoupled to the grasping mechanism and affixed to the vehicle, wherein,responsive to the grasping mechanism engaging the cargo container, theretraction and extension mechanism is configured to extend the cargocontainer away from the vehicle and/or retract the cargo containertowards the vehicle; and a coupling mechanism wherein the couplingmechanism detachably affixes the cargo container to the vehicle when theretracting and extension mechanism mates the cargo container to thevehicle.
 2. The system for autonomous retrieval and delivery of cargoaccording to claim 1, wherein the vehicle is an aerial vehicle.
 3. Thesystem for autonomous retrieval and delivery of cargo according to claim2, wherein the aerial vehicle includes a landing gear assembly having aplurality of wheels and wherein at least one wheel is associated with amotor and operable to move the vehicle.
 4. The system for autonomousretrieval and delivery of cargo according to claim 3, wherein the motoris communicatively coupled to a vehicle control system.
 5. The systemfor autonomous retrieval and delivery of cargo according to claim 2,wherein the aerial vehicle is a vertical takeoff and landing vehicle. 6.The system for autonomous retrieval and delivery of cargo according toclaim 1, further comprising a vehicle control system and wherein thevehicle control system includes a machine capable of executinginstructions embodied as software and a non-transitory storage mediumhousing a plurality of software portion and wherein one of the softwareportions is configured to determine a location of the cargo containerand position the vehicle proximate to the cargo container.
 7. The systemfor autonomous retrieval and delivery of cargo according to claim 6,wherein one of the software portions is configured to verify thelocation of the cargo container within the environment.
 8. The systemfor autonomous retrieval and delivery of cargo according to claim 6,wherein the cargo container is positioned at a predetermined location inthe environment and the predetermined location of the cargo container iscommunicated to the vehicle control system.
 9. The system for autonomousretrieval and delivery of cargo according to claim 6, wherein one of thesoftware portions is configured to determine the identity of the cargocontainer.
 10. The system for autonomous retrieval and delivery of cargoaccording to claim 6, wherein one of the software portions is configuredto determine orientation of the cargo container relative to orientationof the vehicle and relative to the grasping mechanism.
 11. The systemfor autonomous retrieval and delivery of cargo according to claim 7,wherein one of the software portions is configured to move the vehicleso as to position the grasping mechanism within a predetermined degreeof alignment of the cargo container.
 12. The system for autonomousretrieval and delivery of cargo according to claim 11, wherein thepredetermined degree of alignment is equal to or less than +/−6.75″ oflateral error, +/−7.5″ of longitudinal error, and 11 degrees of angularerror.
 13. The system for autonomous retrieval and delivery of cargoaccording to claim 7, wherein the vehicle includes a vehicle center ofgravity and wherein the cargo container includes a cargo containercenter of gravity and wherein, responsive to the cargo container beingcoupled with the vehicle, one of the software portions is configured tomodify the vehicle center of gravity based on the cargo container centerof gravity.
 14. The system for autonomous retrieval and delivery ofcargo according to claim 1, wherein the environment includes the cargocontainer.
 15. The system for autonomous retrieval and delivery of cargoaccording to claim 1, wherein the plurality of devices include a radiofrequency positioning system.
 16. The system for autonomous retrievaland delivery of cargo according to claim 1, wherein the plurality ofdevices include global positioning system receivers.
 17. The system forautonomous retrieval and delivery of cargo according to claim 1, whereinthe plurality of devices include LIDAR.
 18. The system for autonomousretrieval and delivery of cargo according to claim 1, wherein theplurality of devices include optical sensors.
 19. The system forautonomous retrieval and delivery of cargo according to claim 1, whereinthe retraction and extension mechanism includes two or more cablesconfigured to suspend the cargo container, aligning the cargo containerwith the vehicle.
 20. The system for autonomous retrieval and deliveryof cargo according to claim 19, wherein the retraction and extensionmechanism includes a plurality of cables and wherein each cable isassociated with a weight sensor and wherein the cargo container has acargo container weight and wherein a portion of the cargo containerweight is sensed by the weight sensor associated with each cable. 21.The system for autonomous retrieval and delivery of cargo according toclaim 20, wherein the retraction and extension mechanism iscommunicatively coupled to the vehicle control system and wherein thedistribution of the cargo container weight is communicated to thevehicle control system.
 22. The system for autonomous retrieval anddelivery of cargo according to claim 1, wherein the coupling mechanismincludes a plurality of shear pins.
 23. A method for autonomousretrieval and delivery of cargo, the method comprising: collectinginformation regarding an environment proximate to a vehicle wherein theenvironment includes a cargo container; determining a position and anorientation of the cargo container; positioning the vehicle in proximityto the cargo container; and coupling the cargo container to the vehicle.24. The method for autonomous retrieval and delivery of cargo accordingto claim 23, wherein collecting includes determining a geospatiallocation of the vehicle and the cargo container using a GPS system. 25.The method for autonomous retrieval and delivery of cargo according toclaim 23, wherein collecting includes determining a geospatial locationof the vehicle and the cargo container using a radio frequencypositioning system.
 26. The method for autonomous retrieval and deliveryof cargo according to claim 23, wherein collecting includes determininggeospatial location of the vehicle and the cargo container using opticalsensors.
 27. The method for autonomous retrieval and delivery of cargoaccording to claim 23, wherein determining includes identifying theorientation of the cargo container with respect to the vehicle.
 28. Themethod for autonomous retrieval and delivery of cargo according to claim23, wherein positioning includes locating the grasping mechanismproximate to the cargo container.
 29. The method for autonomousretrieval and delivery of cargo according to claim 23, whereinpositioning includes placing the grasping mechanism within apredetermined degree of alignment of the cargo container.
 30. The methodfor autonomous retrieval and delivery of cargo according to claim 23,wherein coupling includes extending a grasping mechanism from thevehicle to engage the cargo container.
 31. The method for autonomousretrieval and delivery of cargo according to claim 23, wherein couplingincludes grasping the cargo container with a grasping mechanism.
 32. Themethod for autonomous retrieval and delivery of cargo according to claim23, wherein coupling includes retracting the cargo container to thevehicle.
 33. The method for autonomous retrieval and delivery of cargoaccording to claim 32, wherein retracting includes sensing a cargocontainer weight and sensing a cargo container weight distribution. 34.The method for autonomous retrieval and delivery of cargo according toclaim 32, wherein retracing includes aligning the cargo container to thevehicle.
 35. The method for autonomous retrieval and delivery of cargoaccording to claim 23, wherein coupling includes latching the cargocontainer to the vehicle.